Robert Griffin Publications

2024

  • Bhavyansh Mishra, Duncan Calvert, Sylvain Bertrand, Jerry Pratt, Evan Yu, Hakki Erhan Sevil, Robert Griffin, “Efficient Terrain Map Using Planar Regions for Footstep Planning on Humanoid Robots”. In: IEEE International Conference on Robotics and Automation (ICRA). 2024.
  • Owen Winship, Stefan Fasano, Jared Li, Bridget Longo, Nicole Esposito, William Howell, Gregory Sawicki, Robert J. Griffin, Gwendolyn Bryan, “Pushing and Pulling Assistance with a Hip-Knee-Ankle Exoskeleton”. In: IEEE International Conference on Robotics and Automation (ICRA). 2024.
  • Stefan Fasano, James Paul Foster, Sylvain Bertrand, Christian DeBuys, Robert J. Griffin, “Efficient Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts”. In: IEEE International Conference on Robotics and Automation (ICRA). 2024.

2023

  • Luigi Penco, Kazuhiko Momose, Stephen McCrory, Dexton Anderson, Nicholas Kitchel, Duncal Calvert, Robert J Griffin, “Mixed Reality Teleoperation Assistance for Direct Control of Humanoids”. In: IEEE Robotics and Automation Letters. 2023. Under Review.
  • Stephen McCrory, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry Pratt, Robert Griffin, “Generating Humanoid Multi-Contact through Feasibility Visualization “. In: 23rd IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2023.
  • Robert J. Griffin, James Paul Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand, “Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery”. In: 23rd IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2023.
  • Jared Li, Owen Winship, Stefan Fasano, Bridget Longo, Nicole Esposito, Gregory Sawicki, Robert Griffin, Gwen Bryan, “Comparing the Effectiveness of Control Metholodigies of a Hip-Knee-Ankle Exoskeleton During Squatting”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023.
  • Yu-Ming Chen, Gabriel Nelson, Robert Griffin, Michael Posa, Jerry Pratt, “Integrable Whole-Body Orientation Coordinates for Legged Robots”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023.
  • Stephen McCrory, Bhavyansh Mishra, Jaehoon An, Robert Griffin, Jerry Pratt, Hakki Erhan Sevil, “Humanoid path planning over rough terrain using traversability assessment”. In: IEEE SouthEast Con. 2023.

2022

  • Robert Griffin, Stephen McCrory, Sylvain Bertrand, Duncan Calvert, Inho Lee, Peter Neuhaus, Doug Stephen, Jay Jasper, Sisir Karumanchi, Ara Kourchians, Blair Emanuel, Emma Holmes, Rachel Hegeman, Jason Pusey, and Jerry Pratt, “Quadrupedal Walking over Complex Terrain with a Quasi-Direct Drive Actuated Robot”. In: Field Robotics. 2022.
  • Jasper, J., Kourchians, A., Gonzalez, M., Emanuel, B., Nicholson, J., McCutcheon, G., Austin, M., Kozlowski, M., Holmes, E., Hegeman, R., McCrory, S., Zeher, M., Handelman, D., Griffin, R., Karumanchi, S., Hubicki, C., Kennedy, B., Clark, J., Pratt, J., Patel, D., & Pusey, J., “Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot”. In: Field Robotics. 2022.
  • Mahimana Bhatt, Luke Fina, Brendon Ortolano, James Lott, Robert Griffin, Matthew Johnson, Hakki Erhan Sevil, “Design of Mission-Based Traversability Assessment (MeTA) Tool for Unmanned Vehicles”. In: IEEE SouthEast Con. 2022.
  • Brandon Peterson, Mark Daniel, Vishnu Subra Mani, Brooke Arnold, Travis Craig, Jeremy Gines, Carlos Gonzalez, William Howell, Brandon Shrewsbury, Matthew Bellman, Peter Neuhaus, Robert Griffin, “Team IHMC at the 2020 Cybathlon: a user-centered approach towards personal mobility exoskeletons”. In: Journal of NeuroEngineering and Rehabilitation. 2022.
  • Duncan Calvert, Bhavyansh Mishra, Stephen McCroy, Sylvain Bertrand, Robert Griffin, Jerry Pratt, “A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions”. In: 22nd IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2022. (Winner of Best Oral Paper).
  • Varun Agrawal, Sylvain Bertrand, Robert Griffin, Frank Dellaert, “Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling”. In: 22nd IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2022.

2021

  • Jerry Pratt, Victor Ragusila, Sebastian Sanchez, Brandon Shrewsbury, Steven Thornton, Davin Landry, Stephen Morfey, Evan Yu, Savannah Cowen, Josh Farina, Robert Griffin, “Towards extreme mobility humanoid resupply robots”. In: Unmanned Systems Technology XXIII. 2021.
  • Bhavyansh Mishra, Duncan Calvert, Sylvain Bertrand, Stephen McCrory, Robert Griffin, Hakki Erhan Sevil, “GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots”. In: 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021.
  • Gabriel Enrique Garcia Chavez, Robert Griffin, Jerry Pratt, “MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics”. In: 21st IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2021.
  • Bhavyansh Mishra, Robert Griffin, Hakki Erhan Sevil, “Modelling Software Architecture for Visual Simultaneous Localization and Mapping”. In: Journal of Automation, Special Issue for Smart Robotics In Automation. 2021.
  • Gabriel Enrique Garcia Chavez, Robert Griffin, Jerry Pratt, “Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots”. In: IEEE International Conference on Robotics and Automation (ICRA). 2021.

2020

  • Stefano Dafarra, Sylvain Bertrand, Robert Griffin, Giorgio Metta, Daniele Pucci, Jerry Pratt, “Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas”. In: 20th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). October 2020.
  • Sylvain Bertrand, Inho Lee, Bhavyansh Mishra, Duncan Calvert, Jerry Pratt, Robert Griffin, “Detecting Usable Planar Regions for Legged Robot Locomotion”. In: 20th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). October 2020.
  • Pavel Blazek, Josef Bydzovsky, Robert Griffin, karel Mls, Brandon Peterson, “Obstacle Awareness Subystem for Higher Exoskeleton Safety”. In: Advances in Intelligent Systems and Computing. 2020.

2019

  • Robert Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry Pratt, “Footstep Planning for Autonomous Walking Over Rough Terrain”. In: 19th IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2019. (Winner of Best Oral Paper).
  • Steven Jens Jorgensen, Michael Lanighan, Sylvain Bertrand, Andrew Watson, Joseph Altemus, Roger, Scott Askew, Lydon Bridgwater, Beau Domingue, Charlie Kendrick, Jason H. Lee, Mark Paterson, Jairo Sanchez, Patrick Beeson, Seth Gee, Stephen Hart, Ana Huaman, Robert Griffin, Inho Lee, Stephen McCrory, Luis Sentis, Jerry Pratt, Josh Mehling, “Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary”. In: 19th IEEE-RAS International Conference on Humanoid Robots (Humanoids). 2019.
  • Robert Griffin, Alexander Leonesssa, “Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation”. In: International Journal of Humanoid Robotics. 16(05) 2019 1950025.
  • Boris Jacob van Hofslot, Robert Griffin, Sylvain Bertrand, Jerry Pratt, “Balancing Using Vertical Center-of-Mass Motion: A 2-D Analysis From Model to Robot”. In: IEEE Robotics and Automation Letters, 4(4). 2019, 3247-3254.

2018

  • Carlotta Mummolo, William Z. Peng, Shlok Agarwal, Robert Griffin, Peter Neuhaus, Joo Kim, “Stability of Mina v2 for Robot-Assisted Balance and Locomotion”. In Frontiers in Neurorobotic, 12. 2018.
  • Robert Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry Pratt, “Straight-Leg Walking Through Underconstrained Whole-Body Control”. In: IEEE International Conference on Robotics and Automation (ICRA). May 2018.
  • Tim Niklas Seyde, Apoorv Shrivastava, Johannes Englsberger, Jerry Pratt, Robert Griffin, “Inclusion of angular momentum during planning for Capture Point based walking”. In: IEEE International Conference on Robotics and Automation (ICRA). May 2018.

2017

  • Robert Griffin, Tyson Cobb, Travis Craig, Mark Daniel, Nick van Dijk, Jeremy Gines. Koen Kramer, Shriya Shah, Olger Siebinga, Jesper Smith, and Peter Neuhaus, “Stepping forward with Exoskeletons: Design and Approach of Team IHMC in the 2016 Cybathlon”. In: IEEE Robotics and Automation Magazine. December 2017.
  • Robert Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, and Jerry Pratt, “Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization”.  In: 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids). November 2017.
  • Cameron Ridgewell, Robert Griffin, Tomonari Furukawa, Brian Lattimer, “Online Estimation of Friction Constraints for Multi-contact Whole Body Control”.  In: 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids). November 2017.
  • Robert Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, and Jerry Pratt, “Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). September 2017.
  • Coleman Knabe, Robert Griffin, James Burton, Graham Cantor-Cooke, Lakshitha Dnatanarayana, Graham Day, Oliver Ebeling-Koning, Eric Hahn, Michael Hopkins, Jordan Neal, Jack Newton, Chris Nogales, Viktor Orekhov, John Peterson, John Seminatore, Yoonchang Sung, Jacob Webb, Nikolaus Wittenstein, Jason Ziglar, Alexander Leonessa, Brian Lattimer, and Tomonari Furukawa, “Team VALOR’s ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge”. In: Journal of Field Robotics. February 2017.

Older

  • Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert Griffin, Francesco Nori, and Jerry Pratt, “Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas”. In: 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids). September 2016. (Winner of Best Oral Paper).
  • Brian Lattimer, Joseph Starr, Josh McNeil, Chris Nogales, John Peterson, Jason Ziglar, James Burton, Coleman Knabe, Yoonchang Sung, John Seminatore, Robert Griffin, Dennis Hong, Daniel Lee, Jack Newton, Viktor Orekhov, Michael Rouleau, Michael Hopkins, and John Farley, “Humanoid Firefighting Robot for Structure Fires”. In: 14th International Conference and Exhibition on Fire Science and Engineering (Interflam). 2016.
  • Robert Griffin, Alan Asbeck, and Alexander Leonessa, “Disturbance Compensation and Step Adjustment for Push Recovery”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). October 2016.
  • Robert Griffin and Alexander Leonessa, “Model Predictive Control for Dynamic Footstep Adjustment Using the Divergent Component of Motion”. In IEEE International Conference on Robotics and Automation (ICRA). May 2016.
  • Michael Hopkins, Robert Griffin, Alexander Leonessa, Brian Lattimer, and Tomonari Furukawa, “Design of a Compliant Bipedal Walking Controller for the DARPA Robotics Challenge”. In: 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids). September 2015.
  • Michael Hopkins, Robert Griffin, and Alexander Leonessa, “Compliant Locomotion: A Model-Based Approach”. In: ASME Dynamics Systems and Control Magazine. June 2015.